Некоторая реализация логики перенесена в main

Source/Control/Inc/attitude.h

@@ -5,15 +5,14 @@
 #include "vector.h"
 #include "pid.h"
 #include "radio_receiver.h"
+#include "imu_processing.h"
+#include "IRS.h"
 
 typedef struct
 {
     Vector3 gyro;
 } attitude_t;
 
-static uint8_t imu_update_flag = 0;
-static uint8_t pid_update_flag = 0;
-
 void attitude_init(attitude_t* att);
 
 void attitude_controller_update(control_channels_t* control,
@@ -23,6 +22,5 @@ void attitude_controller_update(control_channels_t* control,
 
 Quaternion rx_to_quaternion(const rc_channels* rx);
 float constrain(float x, float min, float max);
-void TIM6_DAC_IRQHandler();
 
 #endif

Source/Control/Src/attitude.c

@@ -66,14 +66,4 @@ float constrain(float x, float min, float max)
 {
 	if (x < min) x = min; else if (x > max) x = max;
 	return x;
-}
-
-void TIM6_DAC_IRQHandler()
-{
-	if (TIM6->SR & TIM_SR_UIF)
-	{
-		TIM6->SR &= ~TIM_SR_UIF;
-		imu_update_flag = 1;
-		pid_update_flag = 1;
-	}
 }